Book ChapterDOI
An Accurate Algorithm for the Real-Time Solution of the Direct Kinematics of 6–3 Stewart Platform Manipulators
R. Vertechy,G. R. Dunlop,V. Parenti-Castelli +2 more
- pp 369-378
TLDR
This paper presents a simple and very fast procedure for estimating the actual configuration of 6-3 Stewart platform manipulators in real-time through the use of three additional rotary sensors along with a proved simplifying hypothesis.Abstract:
The direct kinematics of Stewart platform manipulators involves many solutions. However only the actual one is of practical interest for control purposes. This paper presents a simple and very fast procedure for estimating the actual configuration of 6-3 Stewart platform manipulators in real-time. The method minimizes the influence of measurement errors on the estimated pose of the end-effector. This is achieved through the use of three additional rotary sensors along with a proved simplifying hypothesis. By the addition of six extra rotary sensors, the method could by applied to 66 Stewart platform manipulators of general geometry. The effectiveness of the approach has been shown through Monte Carlo simulations and its performances have also been compared with other two recent algorithms proposed in the literature.read more
Citations
More filters
Journal ArticleDOI
Accurate and fast body pose estimation by three point position data
TL;DR: An algorithm for estimating the pose of a rigid body in real-time using the measurement of the location of three body points and minimizes the influence of measurement errors on the estimate.
Book ChapterDOI
Robust, Fast and Accurate Solution of the Direct Position Analysis of Parallel Manipulators by Using Extra-Sensors
TL;DR: In this paper, a 6DOF parallel manipulator with six variable-length legs of type UPS-PMs is presented, where U, P and S are for universal, spherical and prismatic pairs respectively.
Journal ArticleDOI
Performance Evaluation of a Sensor Concept for Solving the Direct Kinematics Problem of General Planar 3-RPR Parallel Mechanisms by Using Solely the Linear Actuators’ Orientations
TL;DR: This paper experimentally evaluates the performance of a sensor concept together with an analytical formulation for solving the direct kinematics problem of a general planar 3-RPR parallel mechanism where the number of possible assembly modes can be significantly reduced when the linear actuators’ orientations are used instead of their lengths.
Journal ArticleDOI
On using inertial measurement units for solving the direct kinematics problem of parallel mechanisms
TL;DR: This paper investigates the accuracy and the computational efficiency of an IMU-based approach for solving the direct kinematics problem of parallel mechanisms with length-variable linear actuators under dynamic conditions, and investigates the achievable accuracy and robustness on a specially designed experimental device.
References
More filters
Journal ArticleDOI
A Platform with Six Degrees of Freedom
TL;DR: In this article, the authors describe a six-degree-of-freedom control with six motors, each having a ground abutment, for simulating flight conditions in the training of pilots.
Proceedings ArticleDOI
Direct kinematic solution of a Stewart platform
TL;DR: A solution of the direct kinematics problem for the Stewart platform is presented and the solution is shown to be reducible to a 24th-order polynomial equation in tan( phi /sub r//2).
Journal ArticleDOI
Direct position analysis of the Stewart platform mechanism
TL;DR: The direct position analysis of the Stewart platform mechanism, that is to find position and orientation of the platform when a set of actuator displacements is given, has been performed in closed-form and leads to a 16th order polynomial equation in one unknown from which 16 different positions and orientations of theplatform can be derived.
Journal ArticleDOI
A forward displacement analysis of a class of stewart platforms
M. Griffis,Joseph Duffy +1 more
TL;DR: A closed-form forward displacement analysis is performed for a Stewart Platform-type of parallel mechanism, whose six legs meet in a pair-wise fashion at three points in the top and base platforms to form an octahedron.